gtsam
4.1.0
gtsam

A CRTP helper class that implements Lie group methods Prerequisites: methods operator*, inverse, and AdjointMap, as well as a ChartAtOrigin struct that will be used to define the manifold Chart To use, simply derive, but also say "using LieGroup<Class,N>::inverse" For derivative math, see doc/math.pdf.
Public Member Functions  
const Class &  derived () const 
Class  compose (const Class &g) const 
Class  between (const Class &g) const 
Class  compose (const Class &g, ChartJacobian H1, ChartJacobian H2=boost::none) const 
Class  between (const Class &g, ChartJacobian H1, ChartJacobian H2=boost::none) const 
Class  inverse (ChartJacobian H) const 
Class  expmap (const TangentVector &v) const 
expmap as required by manifold concept Applies exponential map to v and composes with *this  
TangentVector  logmap (const Class &g) const 
logmap as required by manifold concept Applies logarithmic map to group element that takes *this to g  
Class  expmap (const TangentVector &v, ChartJacobian H1, ChartJacobian H2=boost::none) const 
expmap with optional derivatives  
TangentVector  logmap (const Class &g, ChartJacobian H1, ChartJacobian H2=boost::none) const 
logmap with optional derivatives  
Class  retract (const TangentVector &v) const 
retract as required by manifold concept: applies v at *this  
TangentVector  localCoordinates (const Class &g) const 
localCoordinates as required by manifold concept: finds tangent vector between *this and g  
Class  retract (const TangentVector &v, ChartJacobian H1, ChartJacobian H2=boost::none) const 
retract with optional derivatives  
TangentVector  localCoordinates (const Class &g, ChartJacobian H1, ChartJacobian H2=boost::none) const 
localCoordinates with optional derivatives  
SOn  compose (const SOn &g, DynamicJacobian H1, DynamicJacobian H2) const 
SOn  between (const SOn &g, DynamicJacobian H1, DynamicJacobian H2) const 
SOn  compose (const SOn &g, DynamicJacobian H1, DynamicJacobian H2) const 
SOn  between (const SOn &g, DynamicJacobian H1, DynamicJacobian H2) const 
Static Public Member Functions  
static Class  Retract (const TangentVector &v) 
Retract at origin: possible in Lie group because it has an identity.  
static TangentVector  LocalCoordinates (const Class &g) 
LocalCoordinates at origin: possible in Lie group because it has an identity.  
static Class  Retract (const TangentVector &v, ChartJacobian H) 
Retract at origin with optional derivative.  
static TangentVector  LocalCoordinates (const Class &g, ChartJacobian H) 
LocalCoordinates at origin with optional derivative.  
Public Types  
enum  { dimension = N } 
typedef OptionalJacobian< N, N >  ChartJacobian 
typedef Eigen::Matrix< double, N, N >  Jacobian 
typedef Eigen::Matrix< double, N, 1 >  TangentVector 